OpenRaiser/Intern-Atlas huggingface dataset:
Bias after Prompting: Persistent Discrimination in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

A dangerous assumption that can be made from prior work on the bias transfer hypothesis (BTH) is that biases do not transfer from pre-trained large language models (LLMs) to adapted models. We invalidate this assumption by studying the BTH in causal models under prompt adaptations, as prompting is an extremely popular and accessible adaptation strategy used in real-world applications. In contrast to prior work, we find that biases can transfer through prompting and that popular prompt-based mitigation methods do not consistently prevent biases from transferring. Specifically, the correlation between intrinsic biases and those after prompt adaptation remain moderate to strong across demographics and tasks -- for example, gender (rho >= 0.94) in co-reference resolution, and age (rho >= 0.98) and religion (rho >= 0.69) in question answering. Further, we find that biases remain strongly correlated when varying few-shot composition parameters, such as sample size, stereotypical content, occupational distribution and representational balance (rho >= 0.90). We evaluate several prompt-based debiasing strategies and find that different approaches have distinct strengths, but none consistently reduce bias transfer across models, tasks or demographics. These results demonstrate that correcting bias, and potentially improving reasoning ability, in intrinsic models may prevent propagation of biases to downstream tasks.
Trust Semantics Distillation for Collaborator Selection via Memory-Augmented Agentic AI
Venue: arXiv cs.AI 2025
Year: 2025

Offloading computational tasks from resource-constrained devices to resource-abundant peers constitutes a critical paradigm for collaborative computing. Within this context, accurate trust evaluation of potential collaborating devices is essential for the effective execution of complex computing tasks. This trust evaluation process involves collecting diverse trust-related information from every potential collaborator and performing trust inference based on the collected data. However, when each resource-constrained device independently assesses all potential collaborators, frequent data exchange and complex reasoning can incur significant overhead and further degrade the timeliness of trust evaluation. To overcome these challenges, we propose a task-specific trust semantics distillation (TSD) model based on a large AI model (LAM)-enabled teacher-student agent architecture. Specifically, the teacher agent is deployed on a server with powerful computational capabilities and an augmented memory module to perform multidimensional trust-related data collection, task-specific trust semantics extraction, and task-collaborator matching analysis. Upon receiving task-specific evaluation requests from device-side student agents, the teacher agent transfers the trust semantics of potential collaborators to the student agents, enabling rapid and accurate collaborator selection. Experimental results demonstrate that the proposed TSD model can reduce collaborator evaluation time, decrease device resource consumption, and improve the accuracy of collaborator selection.
Zero-Shot Metric Depth Estimation via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight, prior works either leverage heavy sensors (e.g., LiDARs or stereo cameras) or data-intensive and domain-specific fine-tuning of monocular metric depth estimation methods. In contrast, we propose several lightweight zero-shot rescaling strategies to obtain metric depth from relative depth estimates via the sparse 3D feature map created using a visual-inertial navigation system. These strategies are compared for their accuracy in diverse simulation environments. The best performing approach, which leverages monotonic spline fitting, is deployed in the real-world on a compute-constrained quadrotor. We obtain on-board metric depth estimates at 15 Hz and demonstrate successful collision avoidance after integrating the proposed method with a motion primitives-based planner.
Decidability in First-Order Modal Logic with Non-Rigid Constants and Definite Descriptions
Venue: arXiv cs.LO 2025
Year: 2025

While modal extensions of decidable fragments of first-order logic are usually undecidable, their monodic counterparts, in which formulas in the scope of modal operators have at most one free variable, are typically decidable. This only holds, however, under the provision that non-rigid constants, definite descriptions and non-trivial counting are not admitted. Indeed, several monodic fragments having at least one of these features are known to be undecidable. We investigate these features systematically and show that fundamental monodic fragments such as the two-variable fragment with counting and the guarded fragment of standard first-order modal logics $\mathbf{K}_{n}$ and $\mathbf{S5}_{n}$ are decidable. Tight complexity bounds are established as well. Under the expanding-domain semantics, we show decidability of the basic modal logic extended with the transitive closure operator on finite acyclic frames; this logic, however, is Ackermann-hard.
Componentization: Decomposing Monolithic LLM Responses into Manipulable Semantic Units
Venue: arXiv cs.HC 2025
Year: 2025

Large Language Models (LLMs) often produce monolithic text that is hard to edit in parts, which can slow down collaborative workflows. We present componentization, an approach that decomposes model outputs into modular, independently editable units while preserving context. We describe Modular and Adaptable Output Decomposition (MAOD), which segments responses into coherent components and maintains links among them, and we outline the Component-Based Response Architecture (CBRA) as one way to implement this idea. Our reference prototype, MAODchat, uses a microservices design with state-machine-based decomposition agents, vendor-agnostic model adapters, and real-time component manipulation with recomposition. In an exploratory study with four participants from academic, engineering, and product roles, we observed that component-level editing aligned with several common workflows and enabled iterative refinement and selective reuse. Participants also mentioned possible team workflows. Our contributions are: (1) a definition of componentization for transforming monolithic outputs into manipulable units, (2) CBRA and MAODchat as a prototype architecture, (3) preliminary observations from a small user study, (4) MAOD as an algorithmic sketch for semantic segmentation, and (5) example Agent-to-Agent protocols for automated decomposition. We view componentization as a promising direction for turning passive text consumption into more active, component-level collaboration.
Vector embedding of multi-modal texts: a tool for discovery?
Venue: arXiv cs.IR 2025
Year: 2025

Computer science texts are particularly rich in both narrative content and illustrative charts, algorithms, images, annotated diagrams, etc. This study explores the extent to which vector-based multimodal retrieval, powered by vision-language models (VLMs), can improve discovery across multi-modal (text and images) content. Using over 3,600 digitized textbook pages largely from computer science textbooks and a Vision Language Model (VLM), we generate multi-vector representations capturing both textual and visual semantics. These embeddings are stored in a vector database. We issue a benchmark of 75 natural language queries and compare retrieval performance to ground truth and across four similarity (distance) measures. The study is intended to expose both the strengths and weakenesses of such an approach. We find that cosine similarity most effectively retrieves semantically and visually relevant pages. We further discuss the practicality of using a vector database and multi-modal embedding for operational information retrieval. Our paper is intended to offer design insights for discovery over digital libraries. Keywords: Vector embedding, multi-modal document retrieval, vector database benchmark, digital library discovery
A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous-driving research has recently embraced deep Reinforcement Learning (RL) as a promising framework for data-driven decision making, yet a clear picture of how these algorithms are currently employed, benchmarked and evaluated is still missing. This survey fills that gap by systematically analysing around 100 peer-reviewed papers that train, test or validate RL policies inside the open-source CARLA simulator. We first categorize the literature by algorithmic family model-free, model-based, hierarchical, and hybrid and quantify their prevalence, highlighting that more than 80% of existing studies still rely on model-free methods such as DQN, PPO and SAC. Next, we explain the diverse state, action and reward formulations adopted across works, illustrating how choices of sensor modality (RGB, LiDAR, BEV, semantic maps, and carla kinematics states), control abstraction (discrete vs. continuous) and reward shaping are used across various literature. We also consolidate the evaluation landscape by listing the most common metrics (success rate, collision rate, lane deviation, driving score) and the towns, scenarios and traffic configurations used in CARLA benchmarks. Persistent challenges including sparse rewards, sim-to-real transfer, safety guarantees and limited behaviour diversity are distilled into a set of open research questions, and promising directions such as model-based RL, meta-learning and richer multi-agent simulations are outlined. By providing a unified taxonomy, quantitative statistics and a critical discussion of limitations, this review aims to serve both as a reference for newcomers and as a roadmap for advancing RL-based autonomous driving toward real-world deployment.
Exploratory Retrieval-Augmented Planning For Continual Embodied Instruction Following
Venue: arXiv cs.AI 2025
Year: 2025

This study presents an Exploratory Retrieval-Augmented Planning (ExRAP) framework, designed to tackle continual instruction following tasks of embodied agents in dynamic, non-stationary environments. The framework enhances Large Language Models' (LLMs) embodied reasoning capabilities by efficiently exploring the physical environment and establishing the environmental context memory, thereby effectively grounding the task planning process in time-varying environment contexts. In ExRAP, given multiple continual instruction following tasks, each instruction is decomposed into queries on the environmental context memory and task executions conditioned on the query results. To efficiently handle these multiple tasks that are performed continuously and simultaneously, we implement an exploration-integrated task planning scheme by incorporating the {information-based exploration} into the LLM-based planning process. Combined with memory-augmented query evaluation, this integrated scheme not only allows for a better balance between the validity of the environmental context memory and the load of environment exploration, but also improves overall task performance. Furthermore, we devise a {temporal consistency refinement} scheme for query evaluation to address the inherent decay of knowledge in the memory. Through experiments with VirtualHome, ALFRED, and CARLA, our approach demonstrates robustness against a variety of embodied instruction following scenarios involving different instruction scales and types, and non-stationarity degrees, and it consistently outperforms other state-of-the-art LLM-based task planning approaches in terms of both goal success rate and execution efficiency.
Input-gated Bilateral Teleoperation: An Easy-to-implement Force Feedback Teleoperation Method for Low-cost Hardware
Venue: arXiv cs.RO 2025
Year: 2025

Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral teleoperation systems are complex and difficult to implement. To overcome this, we propose a bilateral teleoperation method that relies only on a simple feedback controller and does not require force sensors. The approach is designed for leader-follower setups using low-cost hardware, making it broadly applicable. Through numerical simulations and real-world experiments, we demonstrate that the method requires minimal parameter tuning, yet achieves both high operability and contact stability, outperforming conventional approaches. Furthermore, we show its high robustness: even at low communication cycle rates between leader and follower, control performance degradation is minimal compared to high-speed operation. We also prove our method can be implemented on two types of commercially available low-cost hardware with zero parameter adjustments. This highlights its high ease of implementation and versatility. We expect this method will expand the use of force feedback teleoperation systems on low-cost hardware. This will contribute to advancing contact-rich task autonomy in imitation learning.
\emph{FoQuS}: A Forgetting-Quality Coreset Selection Framework for Automatic Modulation Recognition
Venue: arXiv cs.LG 2025
Year: 2025

Deep learning-based Automatic Modulation Recognition (AMR) model has made significant progress with the support of large-scale labeled data. However, when developing new models or performing hyperparameter tuning, the time and energy consumption associated with repeated training using massive amounts of data are often unbearable. To address the above challenges, we propose \emph{FoQuS}, which approximates the effect of full training by selecting a coreset from the original dataset, thereby significantly reducing training overhead. Specifically, \emph{FoQuS} records the prediction trajectory of each sample during full-dataset training and constructs three importance metrics based on training dynamics. Experiments show that \emph{FoQuS} can maintain high recognition accuracy and good cross-architecture generalization on multiple AMR datasets using only 1\%-30\% of the original data.
Who Gets Seen in the Age of AI? Adoption Patterns of Large Language Models in Scholarly Writing and Citation Outcomes
Venue: arXiv cs.CY 2025
Year: 2025

The rapid adoption of generative AI tools is reshaping how scholars produce and communicate knowledge, raising questions about who benefits and who is left behind. We analyze over 230,000 Scopus-indexed computer science articles between 2021 and 2025 to examine how AI-assisted writing alters scholarly visibility across regions. Using zero-shot detection of AI-likeness, we track stylistic changes in writing and link them to citation counts, journal placement, and global citation flows before and after ChatGPT. Our findings reveal uneven outcomes: authors in the Global East adopt AI tools more aggressively, yet Western authors gain more per unit of adoption due to pre-existing penalties for "humanlike" writing. Prestigious journals continue to privilege more human-sounding texts, creating tensions between visibility and gatekeeping. Network analyses show modest increases in Eastern visibility and tighter intra-regional clustering, but little structural integration overall. These results highlight how AI adoption reconfigures the labor of academic writing and reshapes opportunities for recognition.
Boosted Training of Lightweight Early Exits for Optimizing CNN Image Classification Inference
Venue: arXiv cs.CV 2025
Year: 2025

Real-time image classification on resource-constrained platforms demands inference methods that balance accuracy with strict latency and power budgets. Early-exit strategies address this need by attaching auxiliary classifiers to intermediate layers of convolutional neural networks (CNNs), allowing "easy" samples to terminate inference early. However, conventional training of early exits introduces a covariance shift: downstream branches are trained on full datasets, while at inference they process only the harder, non-exited samples. This mismatch limits efficiency--accuracy trade-offs in practice. We introduce the Boosted Training Scheme for Early Exits (BTS-EE), a sequential training approach that aligns branch training with inference-time data distributions. Each branch is trained and calibrated before the next, ensuring robustness under selective inference conditions. To further support embedded deployment, we propose a lightweight branch architecture based on 1D convolutions and a Class Precision Margin (CPM) calibration method that enables per-class threshold tuning for reliable exit decisions. Experiments on the CINIC-10 dataset with a ResNet18 backbone demonstrate that BTS-EE consistently outperforms non-boosted training across 64 configurations, achieving up to 45 percent reduction in computation with only 2 percent accuracy degradation. These results expand the design space for deploying CNNs in real-time image processing systems, offering practical efficiency gains for applications such as industrial inspection, embedded vision, and UAV-based monitoring.
Good Deep Features to Track: Self-Supervised Feature Extraction and Tracking in Visual Odometry
Venue: arXiv cs.RO 2025
Year: 2025

Visual-based localization has made significant progress, yet its performance often drops in large-scale, outdoor, and long-term settings due to factors like lighting changes, dynamic scenes, and low-texture areas. These challenges degrade feature extraction and tracking, which are critical for accurate motion estimation. While learning-based methods such as SuperPoint and SuperGlue show improved feature coverage and robustness, they still face generalization issues with out-of-distribution data. We address this by enhancing deep feature extraction and tracking through self-supervised learning with task specific feedback. Our method promotes stable and informative features, improving generalization and reliability in challenging environments.
Personalized Inhibition Training with Eye-Tracking: Enhancing Student Learning and Teacher Assessment in Educational Games
Venue: arXiv cs.HC 2025
Year: 2025

Eye tracking (ET) can help to understand visual attention and cognitive processes in interactive environments. This study presents a comprehensive eye-tracking analysis framework of the Inhibitory Control Game, named the ReStroop game, which is an educational intervention aimed at improving inhibitory control skills in children through a recycling-themed sorting task, for educational assessment that processes raw gaze data through unified algorithms for fixation detection, performance evaluation, and personalized intervention planning. The system employs dual-threshold eye movement detection (I-VT and advanced clustering), comprehensive Area of Interest (AOI) analysis, and evidence-based risk assessment to transform gaze patterns into actionable educational insights. We evaluated this framework across three difficulty levels and revealed critical attention deficits, including low task relevance, elevated attention scatter, and compromised processing efficiency. The multi-dimensional risk assessment identified high to moderate risk levels, triggering personalized interventions including focus training, attention regulation support, and environmental modifications. The system successfully distinguishes between adaptive learning and cognitive overload, providing early warning indicators for educational intervention. Results demonstrate the system's effectiveness in objective attention assessment, early risk identification, and the generation of evidence-based recommendations for students, teachers, and specialists, supporting data-driven educational decision-making and personalized learning approaches.
MIoT-Driven Comparison of Open Blockchain Platforms
Venue: arXiv cs.CR 2025
Year: 2025

Being propelled by the fourth industrial revolution (Industry 4.0), IoT devices and solutions are well adopted everywhere, ranging from home applications to industrial use, crossing through transportation, healthcare, energy, and so on. This wide use of IoT has not gone unnoticed, hackers are tracking the weakness of such a technology and threatening them continuously. Their security at various levels has become an important concern of professionals and researchers. This issue takes more risk, especially with the IoT variants, IIoT (Industrial IoT) and MIoT (Medical IoT). Many existing security solutions are adapted and proposed for addressing IoT security. In this paper, we are interested in exploring blockchain technology and we make a comparison of three free Blockchain platforms towards their applicability for MIoT context, namely Ethereum, Hyperledger Fabric and Corda. In general, Blockchain technology provides a decentralized, autonomous, trustless, and distributed environment. It is challenging to find a Blockchain platform that fits the MIoT context and performs well in terms of security. The retained platform should be deployed smartly to avoid its practical drawbacks related to energy-consuming and excessive computing.
Sparse BEV Fusion with Self-View Consistency for Multi-View Detection and Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Multi-View Multi-Object Tracking (MVMOT) is essential for applications such as surveillance, autonomous driving, and sports analytics. However, maintaining consistent object identities across multiple cameras remains challenging due to viewpoint changes, lighting variations, and occlusions, which often lead to tracking errors.Recent methods project features from multiple cameras into a unified Bird's-Eye-View (BEV) space to improve robustness against occlusion. However, this projection introduces feature distortion and non-uniform density caused by variations in object scale with distance. These issues degrade the quality of the fused representation and reduce detection and tracking accuracy.To address these problems, we propose SCFusion, a framework that combines three techniques to improve multi-view feature integration. First, it applies a sparse transformation to avoid unnatural interpolation during projection. Next, it performs density-aware weighting to adaptively fuse features based on spatial confidence and camera distance. Finally, it introduces a multi-view consistency loss that encourages each camera to learn discriminative features independently before fusion.Experiments show that SCFusion achieves state-of-the-art performance, reaching an IDF1 score of 95.9% on WildTrack and a MODP of 89.2% on MultiviewX, outperforming the baseline method TrackTacular. These results demonstrate that SCFusion effectively mitigates the limitations of conventional BEV projection and provides a robust and accurate solution for multi-view object detection and tracking.
The Shannon Upper Bound for the Error Exponent
Venue: arXiv cs.IT 2025
Year: 2025

For the discrete-time additive white generalized Gaussian noise channel with a generalized input power constraint, with the respective shape and power parameters >= 1, we derive an upper bound on the optimal block error exponent. Explicit asymptotic upper bounds in the limit of a large block length n are given for three special cases: the Laplace noise channel and the Gaussian noise channel with the average absolute value constraint, and for the Laplace noise channel with the second power constraint. The derivation uses the method of types with finite alphabets of sizes depending on the block length n and with the number of types sub-exponential in n.